2026-03-24T08:30:15 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:30:15 - INFO: P3D files will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-24T08:30:15 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:30:16 - INFO: Found TFD mission for SJ502828 DEP 518
2026-03-24T08:30:16 - INFO: Recording will be processed as SMD
2026-03-24T08:30:16 - INFO: Copying assets JSON to output directory...
2026-03-24T08:30:16 - INFO: Preparing counter data...
2026-03-24T08:30:16 - INFO: Interpreting counter as imperial
2026-03-24T08:30:16 - INFO: Preparing size track from assets JSON...
2026-03-24T08:30:16 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:30:16 - INFO: Preparing material track from assets JSON...
2026-03-24T08:30:16 - INFO: Prepared counter data in 0.2913 s
2026-03-24T08:30:16 - INFO: Extracting sonar data...
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/SJ502828_DEP_518.tfd
TFD path: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: MISSION_FILE, Tag: 5073671569755687501
Name: SONAR, Tag: 6012079244958847671
Name: Dictionary, Tag: 18446744073709551615
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 2696
19 / 2696 [>___________________________________________________________________________] 0.70% ? p/s39 / 2696 [->__________________________________________________________________________] 1.45% ? p/s58 / 2696 [->__________________________________________________________________________] 2.15% ? p/s78 / 2696 [-->________________________________________________________________________] 2.89% 98 p/s97 / 2696 [-->________________________________________________________________________] 3.60% 98 p/s117 / 2696 [--->______________________________________________________________________] 4.34% 98 p/s136 / 2696 [--->______________________________________________________________________] 5.04% 98 p/s156 / 2696 [---->_____________________________________________________________________] 5.79% 98 p/s176 / 2696 [---->_____________________________________________________________________] 6.53% 98 p/s196 / 2696 [----->____________________________________________________________________] 7.27% 98 p/s216 / 2696 [----->____________________________________________________________________] 8.01% 98 p/s236 / 2696 [------>___________________________________________________________________] 8.75% 98 p/s255 / 2696 [------>___________________________________________________________________] 9.46% 98 p/s275 / 2696 [------->_________________________________________________________________] 10.20% 98 p/s295 / 2696 [------->_________________________________________________________________] 10.94% 98 p/s315 / 2696 [-------->________________________________________________________________] 11.68% 98 p/s335 / 2696 [--------->_______________________________________________________________] 12.43% 98 p/s354 / 2696 [--------->_______________________________________________________________] 13.13% 98 p/s374 / 2696 [---------->______________________________________________________________] 13.87% 98 p/s394 / 2696 [---------->______________________________________________________________] 14.61% 98 p/s414 / 2696 [----------->_____________________________________________________________] 15.36% 98 p/s434 / 2696 [----------->_____________________________________________________________] 16.10% 99 p/s453 / 2696 [------------>____________________________________________________________] 16.80% 99 p/s473 / 2696 [------------>____________________________________________________________] 17.54% 99 p/s493 / 2696 [------------->___________________________________________________________] 18.29% 99 p/s512 / 2696 [------------->___________________________________________________________] 18.99% 99 p/s532 / 2696 [-------------->__________________________________________________________] 19.73% 99 p/s552 / 2696 [-------------->__________________________________________________________] 20.47% 99 p/s572 / 2696 [--------------->_________________________________________________________] 21.22% 99 p/s591 / 2696 [---------------->________________________________________________________] 21.92% 99 p/s611 / 2696 [---------------->________________________________________________________] 22.66% 99 p/s631 / 2696 [----------------->_______________________________________________________] 23.41% 99 p/s651 / 2696 [----------------->_______________________________________________________] 24.15% 99 p/s671 / 2696 [------------------>______________________________________________________] 24.89% 99 p/s690 / 2696 [------------------>______________________________________________________] 25.59% 99 p/s710 / 2696 [------------------->_____________________________________________________] 26.34% 99 p/s730 / 2696 [------------------->_____________________________________________________] 27.08% 99 p/s750 / 2696 [-------------------->____________________________________________________] 27.82% 99 p/s770 / 2696 [-------------------->____________________________________________________] 28.56% 99 p/s790 / 2696 [--------------------->___________________________________________________] 29.30% 99 p/s809 / 2696 [--------------------->___________________________________________________] 30.01% 99 p/s829 / 2696 [---------------------->__________________________________________________] 30.75% 99 p/s849 / 2696 [---------------------->__________________________________________________] 31.49% 99 p/s869 / 2696 [----------------------->_________________________________________________] 32.23% 99 p/s889 / 2696 [------------------------>________________________________________________] 32.97% 99 p/s909 / 2696 [------------------------>________________________________________________] 33.72% 99 p/s928 / 2696 [------------------------->_______________________________________________] 34.42% 99 p/s948 / 2696 [------------------------->_______________________________________________] 35.16% 99 p/s967 / 2696 [-------------------------->______________________________________________] 35.87% 99 p/s987 / 2696 [-------------------------->______________________________________________] 36.61% 99 p/s1007 / 2696 [-------------------------->_____________________________________________] 37.35% 99 p/s1026 / 2696 [--------------------------->____________________________________________] 38.06% 99 p/s1045 / 2696 [--------------------------->____________________________________________] 38.76% 99 p/s1065 / 2696 [---------------------------->___________________________________________] 39.50% 99 p/s1085 / 2696 [---------------------------->___________________________________________] 40.24% 99 p/s1105 / 2696 [----------------------------->__________________________________________] 40.99% 99 p/s1125 / 2696 [------------------------------>_________________________________________] 41.73% 99 p/s1145 / 2696 [------------------------------>_________________________________________] 42.47% 99 p/s1165 / 2696 [------------------------------->________________________________________] 43.21% 99 p/s1185 / 2696 [------------------------------->________________________________________] 43.95% 99 p/s1204 / 2696 [-------------------------------->_______________________________________] 44.66% 99 p/s1224 / 2696 [-------------------------------->_______________________________________] 45.40% 99 p/s1244 / 2696 [--------------------------------->______________________________________] 46.14% 99 p/s1264 / 2696 [--------------------------------->______________________________________] 46.88% 99 p/s1283 / 2696 [---------------------------------->_____________________________________] 47.59% 99 p/s1303 / 2696 [---------------------------------->_____________________________________] 48.33% 99 p/s1323 / 2696 [----------------------------------->____________________________________] 49.07% 99 p/s1343 / 2696 [----------------------------------->____________________________________] 49.81% 99 p/s1363 / 2696 [------------------------------------>___________________________________] 50.56% 99 p/s1383 / 2696 [------------------------------------>___________________________________] 51.30% 99 p/s1403 / 2696 [------------------------------------->__________________________________] 52.04% 99 p/s1423 / 2696 [-------------------------------------->_________________________________] 52.78% 99 p/s1443 / 2696 [-------------------------------------->_________________________________] 53.52% 99 p/s1463 / 2696 [--------------------------------------->________________________________] 54.27% 99 p/s1483 / 2696 [--------------------------------------->________________________________] 55.01% 99 p/s1502 / 2696 [---------------------------------------->_______________________________] 55.71% 99 p/s1522 / 2696 [---------------------------------------->_______________________________] 56.45% 99 p/s1542 / 2696 [----------------------------------------->______________________________] 57.20% 99 p/s1562 / 2696 [----------------------------------------->______________________________] 57.94% 99 p/s1582 / 2696 [------------------------------------------>_____________________________] 58.68% 99 p/s1602 / 2696 [------------------------------------------>_____________________________] 59.42% 99 p/s1622 / 2696 [------------------------------------------->____________________________] 60.16% 99 p/s1642 / 2696 [------------------------------------------->____________________________] 60.91% 99 p/s1662 / 2696 [-------------------------------------------->___________________________] 61.65% 99 p/s1682 / 2696 [-------------------------------------------->___________________________] 62.39% 99 p/s1701 / 2696 [--------------------------------------------->__________________________] 63.09% 99 p/s1721 / 2696 [--------------------------------------------->__________________________] 63.84% 99 p/s1741 / 2696 [---------------------------------------------->_________________________] 64.58% 99 p/s1761 / 2696 [----------------------------------------------->________________________] 65.32% 99 p/s1781 / 2696 [----------------------------------------------->________________________] 66.06% 99 p/s1801 / 2696 [------------------------------------------------>_______________________] 66.80% 99 p/s1820 / 2696 [------------------------------------------------>_______________________] 67.51% 99 p/s1840 / 2696 [------------------------------------------------->______________________] 68.25% 99 p/s1860 / 2696 [------------------------------------------------->______________________] 68.99% 99 p/s1880 / 2696 [-------------------------------------------------->_____________________] 69.73% 99 p/s1900 / 2696 [-------------------------------------------------->_____________________] 70.47% 99 p/s1920 / 2696 [--------------------------------------------------->____________________] 71.22% 99 p/s1940 / 2696 [--------------------------------------------------->____________________] 71.96% 99 p/s1959 / 2696 [---------------------------------------------------->___________________] 72.66% 99 p/s1979 / 2696 [---------------------------------------------------->___________________] 73.41% 99 p/s1999 / 2696 [----------------------------------------------------->__________________] 74.15% 99 p/s2019 / 2696 [----------------------------------------------------->__________________] 74.89% 99 p/s2039 / 2696 [------------------------------------------------------>_________________] 75.63% 99 p/s2058 / 2696 [------------------------------------------------------>_________________] 76.34% 99 p/s2078 / 2696 [------------------------------------------------------->________________] 77.08% 99 p/s2097 / 2696 [-------------------------------------------------------->_______________] 77.78% 99 p/s2117 / 2696 [-------------------------------------------------------->_______________] 78.52% 99 p/s2137 / 2696 [--------------------------------------------------------->______________] 79.27% 99 p/s2157 / 2696 [--------------------------------------------------------->______________] 80.01% 99 p/s2177 / 2696 [---------------------------------------------------------->_____________] 80.75% 99 p/s2197 / 2696 [---------------------------------------------------------->_____________] 81.49% 99 p/s2217 / 2696 [----------------------------------------------------------->____________] 82.23% 99 p/s2236 / 2696 [----------------------------------------------------------->____________] 82.94% 99 p/s2256 / 2696 [------------------------------------------------------------>___________] 83.68% 99 p/s2276 / 2696 [------------------------------------------------------------>___________] 84.42% 99 p/s2296 / 2696 [------------------------------------------------------------->__________] 85.16% 99 p/s2316 / 2696 [------------------------------------------------------------->__________] 85.91% 99 p/s2335 / 2696 [-------------------------------------------------------------->_________] 86.61% 99 p/s2355 / 2696 [-------------------------------------------------------------->_________] 87.35% 99 p/s2375 / 2696 [--------------------------------------------------------------->________] 88.09% 99 p/s2394 / 2696 [--------------------------------------------------------------->________] 88.80% 99 p/s2414 / 2696 [---------------------------------------------------------------->_______] 89.54% 99 p/s2434 / 2696 [----------------------------------------------------------------->______] 90.28% 99 p/s2454 / 2696 [----------------------------------------------------------------->______] 91.02% 99 p/s2473 / 2696 [------------------------------------------------------------------>_____] 91.73% 99 p/s2493 / 2696 [------------------------------------------------------------------>_____] 92.47% 99 p/s2513 / 2696 [------------------------------------------------------------------->____] 93.21% 99 p/s2533 / 2696 [------------------------------------------------------------------->____] 93.95% 99 p/s2553 / 2696 [-------------------------------------------------------------------->___] 94.70% 99 p/s2573 / 2696 [-------------------------------------------------------------------->___] 95.44% 99 p/s2592 / 2696 [--------------------------------------------------------------------->__] 96.14% 99 p/s2612 / 2696 [--------------------------------------------------------------------->__] 96.88% 99 p/s2632 / 2696 [---------------------------------------------------------------------->_] 97.63% 99 p/s2652 / 2696 [---------------------------------------------------------------------->_] 98.37% 99 p/s2672 / 2696 [----------------------------------------------------------------------->] 99.11% 99 p/s2692 / 2696 [----------------------------------------------------------------------->] 99.85% 99 p/s2696 / 2696 [----------------------------------------------------------------------] 100.00% 100 p/s2026-03-24T08:30:43 - INFO: Parsing 2696 sonar sweeps from /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:32:29 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87"
2026-03-24T08:32:31 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:32:31 - INFO: Prepared data will be output to /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/processing/data
2026-03-24T08:32:31 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:32:31 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:32:31 - INFO: Recording GUID: a3dd9b63-9001-207d-f488-1cc95d10ae87
2026-03-24T08:32:31 - INFO: Preparing sonar data...
2026-03-24T08:32:31 - INFO: /working/a3dd9b63-9001-207d-f488-1cc95d10ae87/a3dd9b63-9001-207d-f488-1cc95d10ae87/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:32:35 - INFO: Sonar epoch is 2026-02-21 21:34:27.238529+00:00 (1771709667238529185)
2026-03-24T08:32:35 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:32:35 - INFO: Using sonar rotation of 0.000000 radians for wedge mask
2026-03-24T08:32:35 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:32:35 - INFO: Sonar range is 2.167200 m
2026-03-24T08:32:35 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:32:35 - INFO: Processing 2695 sweeps...

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2026-03-24T08:33:32 - INFO: Prepared sonar data in 61.4861 s
2026-03-24T08:33:32 - INFO: No IMU data found
2026-03-24T08:33:33 - INFO: DataPrep took 0:01:01.767448
2026-03-24T08:33:33 - INFO: Extracted sonar data in 0:03:17.120198
2026-03-24T08:33:33 - INFO: MSIP3D took 0:03:17.696700